Pose Estimation From Lines

We start by setting up some basic runway corners and aircraft position.

Let's compare this with points estimated from all four corners, and from all four corners and the sideline angles.

What if we know some more information?

Let's say we can fix the altitude (e.g. because we know we're on the ground).

As we can see, fixing one of the variables works and is almost like "slicing" into the previous solution!